Non - affine nonlinear systems via bounded controls and kalman - yakubovitch - popov lemma of affine passive systems are stabilized . several kinds of nonlinear systems with uncertainty by using stability theory of cascaded passive systems are stabilized robustly . the relative weaker sufficient conditions of stabilizing a class of driven - driving systems by using the concept of zero - state - detectability are put forward 运用仿射无源系统的kalman - yacubovitch - popov引理，饱和镇定非仿射非线性系统；运用联级无源系统的稳定原理鲁棒镇定几类不确定系统；运用零状态可探测概念，给出了镇定从驱动系统相对较弱的充分条件。
